The present invention relates to a work vehicle such as a tractor capable of automatic traveling.
Background technology
[0002]
　Conventionally, a work vehicle cooperation system disclosed in Patent Document 1 is known.
　The work vehicle coordination system disclosed in Patent Document 1 is a work vehicle coordination system that performs ground work by a child work vehicle that can be unmanned and a parent work vehicle that is manned, and detects the position of the parent work vehicle. A route calculation that calculates the planned travel route used for unmanned maneuvering of the child work vehicle based on the parent position detection module, the child position detection module that detects the position of the child work vehicle, and the work travel locus of the parent work vehicle. It is provided with a unit and a control unit for unmanned operation of the child work vehicle so as to follow the parent work vehicle based on the position of the child work vehicle and the planned travel route.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "Japanese Patent Laid-Open No. 2016-31649"
Outline of the invention
Problems to be solved by the invention
[0004]
　According to the work vehicle coordination system of Patent Document 1, by using the traveling locus of the parent worker as a reference route, the parent work vehicle and the child work vehicle perform the same work, and the child work vehicle is the parent work vehicle. Work by overlapping the work traces by a predetermined amount. Therefore, the work running can be realized by the effective cooperation between the parent work vehicle and the child work vehicle.
　However, in order for the child work vehicle to travel (follow) the travel locus of the parent work vehicle, it is necessary for the parent work vehicle and the child work vehicle to communicate their respective position information and the planned travel route. Therefore, when there is no communication means between the parent work vehicle and the work vehicle or worker who works following the parent work vehicle, the relative distance between the parent work vehicle and the child work vehicle should be kept constant. However, it was not possible to realize effective cooperation with the parent work vehicle.
[0005]
　The present invention has been made to solve such problems of the prior art, and an object of the present invention is to provide a work vehicle capable of automatically traveling, which can easily realize cooperation of work.
Means to solve problems
[0006]
　The work vehicle according to one aspect of the present invention includes a traveling vehicle to which a working device can be connected, a position detecting device for detecting the position of the traveling vehicle, and a position and a planned traveling route of the traveling vehicle detected by the position detecting device. Based on the above, the automatic traveling control unit that automatically steers the traveling vehicle and controls the traveling speed of the traveling vehicle corresponding to the planned travel route, the work device, and the work behind the work device. The automatic travel control unit includes a distance detection unit that detects a detection distance between the operator and the operator, and the automatic travel control unit changes the travel speed based on the detection distance.
[0007]
　Further, the work vehicle is based on the traveling vehicle to which the working device can be connected, the position detecting device for detecting the position of the traveling vehicle, the position of the traveling vehicle detected by the position detecting device, and the planned traveling route. An automatic traveling control unit that automatically steers a traveling vehicle and controls the traveling speed of the traveling vehicle corresponding to the planned travel route, the work device, and a work machine that performs work behind the work device. The automatic travel control unit includes a distance detection unit that detects the detection distance between the vehicles, and the automatic travel control unit changes the travel speed based on the detection distance.
[0008]
　Further, the automatic traveling control unit changes the traveling speed to zero or increases when the detection distance is equal to or less than a preset predetermined range, and the detection distance is within the predetermined range. In this case, the traveling speed is not changed, and the traveling speed is changed to be decelerated when the detection distance is equal to or more than the predetermined range.
　Further, the automatic traveling control unit has a first threshold value larger than the predetermined range, and when the detection distance is equal to or greater than the predetermined range and is equal to or greater than the first threshold value, the traveling speed is set to zero. Change to.
[0009]
　Further, the automatic traveling control unit has a second threshold value smaller than the predetermined range, and when the detection distance is equal to or less than the predetermined range and is equal to or less than the second threshold value, the traveling speed is set to zero. When the detection distance is equal to or less than the predetermined range and exceeds the second threshold value, the traveling speed is increased.
　Further, the automatic traveling control unit changes the traveling speed to zero when the detected distance is equal to or greater than the first threshold value.
[0010]
　Further, the automatic traveling control unit changes the traveling speed to zero when the detected distance is equal to or less than the second threshold value smaller than the first threshold value.
The invention's effect
[0011]
　According to the work vehicle, the work can be easily coordinated and the work can be continued.
A brief description of the drawing
[0012]
FIG. 1 is a diagram showing a block diagram of a work vehicle according to the first embodiment.
FIG. 2 is a diagram showing an elevating device according to the first embodiment.
FIG. 3A is a diagram illustrating automatic traveling according to the first embodiment.
FIG. 3B is a second diagram illustrating automatic traveling according to the first embodiment.
FIG. 4 is a diagram illustrating a change in traveling speed based on a detected distance in the first embodiment.
FIG. 5 is a diagram illustrating calculation of a traveling speed based on a detection distance and a correction value in the first embodiment.
FIG. 6 is a flowchart showing a series of flows of the control device according to the first embodiment.
FIG. 7 is a diagram illustrating a change in traveling speed based on a detected distance in the second embodiment.
FIG. 8 is a flowchart showing a series of flows of the control device according to the second embodiment.
[Fig. 9] It is a side view of the work vehicle.
Embodiment for carrying out the invention
[0013]
　Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[
　First Embodiment] First, a tractor, which is one of the work vehicles 1, will be described. As shown in FIG. 9, the tractor 1 includes a traveling vehicle 3 having a traveling device 7, a prime mover 4, and a transmission device 5. The traveling vehicle 3 is provided with a cabin 9, and a driver's seat 10 is provided in the cabin 9. In the following description, the front side of the driver (in the direction of arrow A1 in FIG. 9) seated in the driver's seat 10 of the work vehicle 1 is in the front, the rear side of the driver (in the direction of arrow A2 in FIG. 9) is in the rear, and the driver's. The left side (front side in FIG. 9) will be described as the left side, and the driver's right side (back side in FIG. 9) will be described as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-back direction, will be described as the width direction. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch between forward and reverse of the traveling device 7. The traveling vehicle 3 is provided with a cabin 9, and a driver's seat 10 is provided in the cabin 9.
[0014]
　Further, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the traveling vehicle 3. The connecting portion 8 is an elevating device. The work device 2 can be attached to and detached from the elevating device. As a result, the traveling vehicle 3 can connect the working device 2. By connecting the working device 2 to the elevating device, the working device 2 can be towed by the traveling vehicle 3. That is, a work device 2 for performing work is connected to the rear portion of the traveling vehicle 3. The work device 2 cuts a digging device for digging potatoes and carrots, a cultivating device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, and cutting grass. It is a digging device, a spreading device for spreading grass and the like, a grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like. Note that FIG. 9 shows an example in which the digging device is attached to the traveling vehicle 3 as the working device 2.
[0015]
　As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving the spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.
[0016]
　Therefore, when the handle 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22. By doing so, the steering direction of the front wheel 7F can be changed. The steering device 11 described above is an example, and is not limited to the configuration described above.
　As shown in FIG. 2, the elevating device includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end portion of the lift arm 8a is swingably supported upward or downward on the rear upper portion of the case (mission case) accommodating the transmission 5. The lift arm 8a swings (elevates) by being driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the hydraulic pump 21 via a control valve 22. The control valve 22 is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.
[0017]
　The front end portion of the lower link 8b is swingably supported upward or downward in the lower rear portion of the transmission 5. The front end portion of the top link 8c is swingably supported above or below the rear portion of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (expanded / contracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the working device 2 swings (up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.
[0018]
　As shown in FIGS. 1 and 9, the tractor 1 includes a position detecting device 40. The position detection device 40 is a device that detects the position of the traveling vehicle 3. In the present embodiment, the position detection device 40 is, for example, a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor 1 (for example, latitude, longitude). That is, the vehicle body position W1 is detected. As shown in FIG. 1, the positioning device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the traveling vehicle 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the upper part (roof 9a) of the cabin 9 provided in the traveling vehicle 3. The mounting location of the receiving device 41 is not limited to the embodiment.
[0019]
　The inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The traveling vehicle 3, for example, provided below the driver's seat 10, can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle 3 by the inertial measurement unit 42.
　In the present embodiment, the position detection device 40 is a positioning device 40 that detects the position of the traveling vehicle 3 based on the satellite signal, but if the position detecting device 40 can detect the position of the traveling vehicle 3. Often, the position of the traveling vehicle 3 may be detected based on the acceleration detected by the inertial measurement unit 42 and the predetermined position information, and the configuration is not limited to the above.
[0020]
　As shown in FIG. 1, the tractor 1 includes a control device 60 and a storage unit 62. The control device 60 is a device that controls the traveling system, the working system, and the like in the tractor 1. The storage unit 62 is a non-volatile memory or the like, and stores various information related to the control of the control device 60.
　As shown in FIG. 1, the control device 60 has an automatic traveling control unit 61 that controls the automatic traveling of the tractor 1. The automatic driving control unit 61 is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. When the automatic traveling is started, the automatic traveling control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along the planned traveling route L. Further, when the automatic traveling is started, the automatic traveling control unit 61 controls the vehicle speed (traveling speed) of the tractor 1 by automatically changing the shift stage of the transmission 5, the rotation speed of the prime mover 4, and the like. FIG. 3A shows an example of the planned travel route L of the tractor. The planned travel route L includes a straight-ahead portion L1 for making the tractor 1 go straight and a turning portion L2 for turning the tractor 1. When the automatic traveling is started, the automatic traveling control unit 61 controls different traveling speeds in the straight traveling unit L1 and the turning unit L2. For example, in the straight-ahead unit L1, the automatic traveling control unit 61 sets the traveling speed to the speed α. On the other hand, in the turning unit L2, the automatic traveling control unit 61 sets the traveling speed to a speed β (β> α) slower than the speed α. The automatic traveling control unit 61 may divide the straight traveling unit L1 into a plurality of sections and set different traveling speeds for each section, and the control of the traveling speed is not limited to the above configuration.
[0021]
　As shown in FIG. 3B, when the deviation between the vehicle body position W1 and the planned travel route L is less than the threshold value under the condition that the tractor 1 is automatically traveling, the automatic traveling control unit 61 sets the steering shaft (rotating shaft). ) Maintain the rotation angle of 11b. When the deviation between the vehicle body position W1 and the planned travel route L is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned travel route L, the automatic travel control unit 61 determines that the steering direction of the tractor 1 is set. The steering shaft 11b is rotated so as to be in the right direction. When the deviation between the vehicle body position W1 and the planned travel route L is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned travel route L, the automatic travel control unit 61 determines that the steering direction of the tractor 1 is set. The steering shaft 11b is rotated so as to be in the left direction. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position W1 and the planned travel route L, but the direction of the planned travel route L and the tractor 1 (traveling vehicle 3) are changed. When the direction (vehicle body direction) F1 in the traveling direction (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned traveling route L is equal to or greater than the threshold value, the automatic traveling control unit 61 has zero angle θg (the angle θg). The steering angle may be set so that the vehicle body direction F1 matches the direction of the planned travel route L). Further, the automatic traveling control unit 61 sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.
[0022]
　As described above, the control device 60 can automatically drive the tractor 1 (traveling vehicle 3).
　The tractor 1 changes the traveling speed according to the relative distance to the worker M1 and the work machine M2 who work behind the work device 2 connected to the tractor 1 during automatic traveling, so that the tractor 1 automatically travels. , The relative distance can be maintained within a certain range. The worker M1 performs auxiliary work of the work performed by the work device 2 while moving following the tractor 1. When the work device 2 is a digging device as shown in FIG. 9, the worker M1 picks up and harvests the harvested material as an auxiliary work. On the other hand, the work machine M2 performs auxiliary work of the work performed by the work device 2 while moving following the tractor 1. As shown in FIG. 9, when the working device 2 is a digging device, the working machine M2 loads the harvested material into a container as an auxiliary work. For convenience of explanation, the worker M1 and the work machine M2 will be described below as the work body M. The automatic travel control unit 61 controls the travel speed corresponding to the planned travel route L, and is based on the relative distance between the work device 2 and the work body M that works behind the work device 2. To change the traveling speed. The work vehicle 1 includes a distance detection unit 70. As shown in FIG. 9, the distance detection unit 70 is provided, for example, at the rear of the traveling vehicle 3, and detects the relative distance (detection distance x 2) between the work device 2 and the work body M. The distance detection unit 70 is, for example, a laser scanner that detects the work body M behind the work device 2 and detects the distance to the work body M. The laser scanner has a detection angle of about 270 degrees behind the traveling vehicle 3, and can detect the working body M located behind the working device 2. As shown in FIG. 4, the laser scanner can detect the working object M at least in the target area E on a plane. In the present embodiment, the distance detection unit 70 is a laser scanner, but the distance detection unit 70 may detect the relative distance between the work device 2 and the work body M behind the work device 2, for example. It may be a radar sensor, a sonar sensor, or the like, or it may be an image pickup device that captures an image of the rear of the work device 2 and detects the relative distance.
[0023]
　The target area E includes at least an area overlapping with the area where the work device 2 works. Specifically, one end (left end) in the width direction of the target area E coincides with or is located on one side (left side) of the one end (left end) of the area where the work device 2 works. The other end (right end) in the width direction of the target area E coincides with or is located on the other side (right end) of the other end (right end) of the area where the work device 2 works. Further, the length y2 in the width direction of the target area E is the same as or longer than the length y1 in the width direction of the area where the work device 2 works (y2 ≧ y1). In the present embodiment, as shown in FIG. 4, the left end of the target area E in the width direction coincides with the left end of the area where the work device 2 works, and the right end of the target area E in the width direction is the work device. 2 coincides with the right edge of the work area. Further, the length y2 in the width direction of the target area E is the same as the length y1 in the width direction of the area where the work device 2 works (y2 = y1). As a result, the distance detection unit 70 can detect the work body M located at least in the area overlapping the area where the work device 2 works.
[0024]
　As shown in FIG. 1, the distance detection unit 70 includes a detection unit 71 that detects the working body M and a processing unit 72 that processes the detection information from the detection unit 71. The detection unit 71 detects the work body M closest to the detection unit 71 among the work bodies M located in the target area E. The detection unit 71 irradiates the target area E with a laser beam, and receives the reflected light of the laser beam reflected by the target area E. The processing unit 72 detects the detection distance x2 between the work device 2 and the work body M based on the time from the start of irradiation of the detection unit 71 to the light reception. Specifically, the processing unit 72 detects the relative distance x between the traveling vehicle 3 and the work body M based on the time from the start of irradiation of the detection unit 71 to the light reception, and the traveling vehicle 3 and the work device 2 By subtracting the relative distance x1 between and, the detection distance x2 is detected (x2 = x−x1). The relative distance x1 is a value set in advance corresponding to the working device 2, and is possessed by the processing unit 72. The relative distance x1 operates a mobile terminal such as a personal computer (PC), a smartphone (multifunctional mobile phone), a computer such as a tablet, etc., which is communicably connected to the tractor 1, and a display device provided in the tractor 1. By doing so, the operator (operator) or the like may change the setting, or may automatically change the setting corresponding to the work device 2 connected to the connecting portion 8. The processing unit 72 outputs the processed detection distance x2 to the automatic traveling control unit 61.
[0025]
　As shown in FIG. 9, the distance detection unit 70 is attached to the rear upper part of the cabin 9. Specifically, the detection unit 71 is provided at the lower part of the roof 9a of the cabin 9 so as to face rearward and downward. The distance detecting unit 70 is provided in the central portion of the lower portion of the roof 9a in the width direction. In the present embodiment, the distance detection unit 70 is attached to the rear upper part of the cabin 9, but the distance detection unit 70 only needs to be able to detect the detection distance x2 between the work device 2 and the work body M. It may be attached to the pillar of the cabin 9 or may be attached to the working device 2.
[0026]
　The automatic traveling control unit 61 automatically changes the shift stage of the transmission 5 and the rotation speed of the prime mover 4 according to the detection distance x2, and changes the vehicle speed (traveling speed) of the tractor 1 (traveling vehicle 3). Specifically, the automatic traveling control unit 61 automatically determines the speed change stage of the transmission 5 and the rotation speed of the prime mover 4 according to a plurality of areas in which the target area E is divided according to the distance from the work device 2. And change the traveling speed of the traveling vehicle 3. The plurality of regions include a first region (stop region) E1, a second region (deceleration region) E2, a third region (speed maintenance region) E3, a fourth region (acceleration region) E4, and a fifth region ( Stop area) E5 is included. As shown in FIG. 4, the target area E is divided into a first area E1, a second area E2, a third area E3, a fourth area E4, and a fifth area E5 in order from the area far from the working device 2. There is. The first region E1, the second region E2, the third region E3, the fourth region E4, and the fifth region E5 are classified by a preset range or a threshold value.
[0027]
　The range and the threshold value are ranges or threshold values ​​corresponding to the detection distance x2, and are stored in advance in, for example, a storage unit 62 provided in the traveling vehicle 3. The storage unit 62 stores, for example, a predetermined range, a first threshold value P3, and a second threshold value P4 as preset ranges or threshold values. The predetermined range is a range defined by the upper limit value P1 and the lower limit value P2. The first threshold value P3 is a value larger than the upper limit value P1, and the second threshold value P4 is a value smaller than the first threshold value P3. Specifically, the second threshold value P4 is a value smaller than the first threshold value P3 and smaller than the lower limit value P2.
[0028]
　As shown in FIG. 4, the first region E1 is a region in which the detection distance x2 is equal to or greater than the first threshold value P3 (x ≧ P3). The second region E2 is a region where the detection distance x2 is less than the first threshold value P3 and the upper limit value P1 or more (P3> x ≧ P1). The second region E2 is a region sandwiched between the first threshold value P3 and the upper limit value P1 (predetermined range). The third region E3 is a region where the detection distance x2 is less than the upper limit value P1 and exceeds the lower limit value P2 (P1> x> P2). The third region E3 is sandwiched between the upper limit value P1 and the lower limit value P2, and is a region that coincides with a predetermined range. The fourth region E4 is a region in which the detection distance x2 is equal to or less than the lower limit value P2 and exceeds the second threshold value P4 (P2 ≧ x> P4). The fourth region E4 is a region sandwiched between the lower limit value P2 and the second threshold value P4 (predetermined range). The fifth region E5 is a region where the detection distance x2 is equal to or less than the second threshold value P4 (x ≦ P4). The automatic travel control unit 61 acquires a predetermined range, the first threshold value P3, and the second threshold value P4 from the storage unit 62, and the predetermined range, the first threshold value P3, the second threshold value P4, and the distance detection unit 70. The traveling speed is changed based on the detection distance x2 output from.
[0029]
　The predetermined range (upper limit value P1 and lower limit value P2), the first threshold value P3, and the second threshold value P4 are predetermined values ​​set in advance and are stored in the storage unit 62, and are stored in the storage unit 62. Although the 61 has by acquiring from the storage unit 62, the automatic traveling control unit 61 may have a predetermined range, a first threshold value P3, and a second threshold value P4 in advance, and the acquisition source thereof is The configuration is not limited to the above. Further, the predetermined range, the first threshold value P3, and the second threshold value P4 may be arbitrarily changed. The values ​​of the predetermined range, the first threshold P3, and the second threshold P4 can be changed by carrying a personal computer (PC), a smartphone (multifunctional mobile phone), a computer such as a tablet, etc., which is communicably connected to the tractor 1. This is done by operating a terminal or a display device provided on the tractor 1. Further, in the present embodiment, the automatic traveling control unit 61 changes the traveling speed according to a plurality of areas in which the target area E is divided according to the distance from the working device 2, but the distance from the working device 2 is changed. The traveling speed may be changed accordingly, and the shape of the plurality of regions is not limited to a substantially rectangular shape as shown in FIG. 4, and may be a substantially fan shape or a substantially trapezoidal shape, and is not limited to the above configuration.
[0030]
　Hereinafter, the control of the automatic traveling control unit 61 will be described. The automatic traveling control unit 61 changes the traveling speed to zero or increases when the detection distance x2 is within a predetermined range, and changes the traveling speed when the detection distance x2 is within the predetermined range. Instead, when the detection distance x2 is equal to or greater than a predetermined range, the traveling speed is changed to be decelerated. Specifically, the automatic traveling control unit 61 changes the traveling speed to zero when the detection distance x2 is equal to or greater than a predetermined range and is equal to or greater than the first threshold value P3. Further, the automatic traveling control unit 61 changes the traveling speed to zero when the detection distance x2 is equal to or less than the predetermined range and is equal to or less than the second threshold value P4, and the detection distance x2 is equal to or less than the predetermined range. 2 When the threshold value P4 is exceeded, the traveling speed is changed to increase.
[0031]
　To explain the control of the automatic driving control unit 61 in more detail, when the working body M closest to the detection unit 71 is located in the first region E1 (x ≧ P3), the automatic traveling control unit 61 sets the traveling speed to zero. Change to. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling a braking device that brakes the front wheels 7F or the rear wheels 7R and a transmission device 5. As a result, when the relative distance between the work device 2 and the work body M becomes relatively large, the traveling vehicle 3 can be stopped. Therefore, when the work body M is not moving, such as when the work is interrupted, the work vehicle 1 performs the work in advance regardless of the work body M, even if the traveling vehicle 3 is not stopped. It is possible to suppress what is done.
[0032]
　When the work body M closest to the detection unit 71 is located in the second region E2 (P3> x ≧ P1), the automatic travel control unit 61 is changed to decelerate at a speed lower than the travel speed corresponding to the planned travel route L. do. The automatic traveling control unit 61 lowers the shift stage of the transmission 5, reduces the rotation speed of the prime mover 4, brakes the front wheels 7F or the rear wheels 7R by a braking device that brakes the front wheels 7F or the rear wheels 7R, and detects the speed. The traveling speed is reduced in inverse proportion to the length of the distance x2. Specifically, for example, as shown in FIG. 5, the automatic traveling control unit 61 multiplies the traveling speed corresponding to the planned traveling route L by the correction value set according to the length of the detection distance x2. Calculate the changed running speed (running speed after change = running speed corresponding to the planned running route L x correction value). As a result, the automatic traveling control unit 61 changes the traveling speed to be reduced when the relative distance to the working body M is relatively large in the automatic traveling. Therefore, it is possible to maintain a predetermined relative distance between the work device 2 and the work body M without stopping the traveling vehicle 3, and the work of the work body M is delayed with respect to the work of the work device 2. It can be suppressed. In the present embodiment, the automatic travel control unit 61 decelerates the travel speed in inverse proportion to the length of the detection distance x2, but the detection distance x2 is less than the first threshold value P3 and exceeds the upper limit value P1. If so, the automatic travel control unit 61 may decelerate from the travel speed corresponding to the planned travel route L, and may be configured to decelerate at a constant speed from the travel speed corresponding to the planned travel route L.
[0033]
　When the work body M closest to the detection unit 71 is located in the third region E3 (P1> x> P2), the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L. .. In other words, when the detection distance x2 is within a predetermined range, the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L, and maintains the travel speed.
　When the work body M closest to the detection unit 71 is located in the fourth region E4 (P2 ≧ x> P4), the automatic travel control unit 61 is set to increase the speed higher than the travel speed corresponding to the planned travel route L. change. The automatic traveling control unit 61 increases the traveling speed in inverse proportion to the length of the detection distance x2 by raising the gear of the transmission 5 or changing the increase of the rotation speed of the prime mover 4. For example, as in the case where the work body M closest to the detection unit 71 is located in the second region E2, as shown in FIG. 5, the automatic travel control unit 61 is set according to the length of the detection distance x2. The changed running speed is calculated by multiplying the corrected running speed by the running speed corresponding to the planned running route L (running speed after the change = running speed corresponding to the planned running route L × correction value). As a result, the automatic traveling control unit 61 changes to increase the traveling speed when the relative distance to the working body M becomes small in the automatic traveling. Therefore, it is possible to maintain a predetermined relative distance between the work device 2 and the work body M, and it is possible to prevent the work of the work body M from overtaking the work of the work device 2. In the present embodiment, the automatic travel control unit 61 increases the travel speed in inverse proportion to the length of the detection distance x2, but the detection distance x2 is equal to or less than the lower limit value P2 and exceeds the second threshold value P4. If this is the case, the automatic travel control unit 61 may increase the speed higher than the travel speed corresponding to the planned travel route L, and may increase the speed to a constant speed.
[0034]
　When the work body M closest to the detection unit 71 is located in the fifth region E5 (x ≦ P4), the automatic travel control unit 61 changes the travel speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling the braking device and the transmission device 5. As a result, when the relative distance between the work device 2 and the work body M is relatively small, the traveling vehicle 3 can be stopped. Therefore, it is possible to prevent the working body M from approaching the vicinity of the working vehicle 1 that is automatically traveling and hindering the automatic traveling, or to prevent the working body M and the working vehicle 1 from coming into contact with each other.
[0035]
　According to the automatic traveling control unit 61 described above, since the traveling speed of the traveling vehicle 3 is changed according to the relative distance between the working device 2 and the working body M, the relative distance can be kept constant, and the working vehicle 1 can be maintained. The work body M can continue the work without stopping the work vehicle 1 in accordance with the work body M that performs the work in accordance with the above. Further, even if the work vehicle 1 is not stopped, the work device 2 and the work body M can be maintained at a predetermined relative distance, and the work efficiency can be improved by reducing the stop frequency of the work vehicle 1. Can be done.
[0036]
　Hereinafter, a series of flows of the automatic driving control unit 61 in automatic driving will be described.
　As shown in FIG. 6, after the engine 4 of the tractor 1 is started, when the control device 60 acquires the instruction to start the automatic traveling of the tractor 1, the automatic traveling control unit 61 starts the automatic traveling of the tractor 1 (S1). The control device 60 acquires an automatic traveling start instruction from a mobile terminal such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a computer such as a tablet, which is communicably connected to the tractor 1, for example. The control device 60 may acquire a start instruction at a predetermined time and start automatic driving, and the acquisition source of the start instruction is not limited to the above configuration. When the automatic traveling is started, the automatic traveling control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along the planned traveling route L. Further, when the automatic traveling is started, the automatic traveling control unit 61 controls the vehicle speed (traveling speed) of the tractor 1 by automatically changing the shift stage of the transmission 5, the rotation speed of the prime mover 4, and the like.
[0037]
　When the automatic travel control unit 61 starts the automatic travel of the tractor 1 (S1), the distance detection unit 70 detects the detection distance x2 (S2). Specifically, the detection unit 71 of the distance detection unit 70 detects the work body M closest to the detection unit 71 among the work bodies M located in the target area E. The detection unit 71 irradiates the target area E with a laser beam, and receives the reflected light of the laser beam reflected by the target area E. The processing unit 72 of the distance detection unit 70 detects the detection distance x2 between the work device 2 and the work body M based on the time from the start of irradiation of the detection unit 71 to the light reception. Specifically, the processing unit 72 detects the relative distance x between the traveling vehicle 3 and the work body M based on the time from the start of irradiation to the light reception of the detection unit 71, and the traveling vehicle 3 and the work device 2 The detection distance x2 is detected by subtracting the relative distance x1 between the two. The processing unit 72 outputs the processed detection distance x2 to the automatic traveling control unit 61.
[0038]
　When the detection distance x2 is input from the distance detection unit 70, the automatic travel control unit 61 automatically changes the shift stage of the transmission 5 and the rotation speed of the prime mover 4 according to the detection distance x2, and the tractor. The vehicle speed (running speed) of 1 is changed (S3 to S11). Specifically, the automatic driving control unit 61 first acquires the first threshold value P3 from the storage unit 62, and confirms whether or not the detection distance x2 output from the distance detection unit 70 is equal to or greater than the first threshold value P3. (S3). When the detection distance x2 is equal to or greater than the first threshold value P3 (S3, Yes), the automatic travel control unit 61 changes the travel speed to zero (S4). In other words, when the working body M closest to the detection unit 71 is located in the first region E1, the automatic traveling control unit 61 changes the traveling speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling a braking device that brakes the front wheels 7F or the rear wheels 7R and a transmission device 5.
[0039]
　When the detection distance x2 is not equal to or greater than the first threshold value P3 (S3, No), the automatic driving control unit 61 acquires the upper limit value P1 from the storage unit 62, and the detection distance x2 output from the distance detection unit 70 is the upper limit value. It is confirmed whether or not it is P1 or higher (S5). When the detection distance x2 is equal to or greater than the upper limit value P1, the automatic driving control unit 61 changes the speed so as to decelerate from the traveling speed corresponding to the planned traveling route L (S6). That is, when the working body M closest to the detection unit 71 is located in the second region E2, the automatic traveling control unit 61, in other words, the detection distance x2 is less than the first threshold value P3 and is set in advance. If it is above the range of, change to slow down the running speed. The automatic traveling control unit 61 lowers the shift stage of the transmission 5, reduces the rotation speed of the prime mover 4, brakes the front wheels 7F or the rear wheels 7R by a braking device that brakes the front wheels 7F or the rear wheels 7R, and detects the speed. The traveling speed is reduced in inverse proportion to the length of the distance x2.
[0040]
　When the detection distance x2 is not equal to or greater than the upper limit value P1 (S5, No), the automatic driving control unit 61 acquires the lower limit value P2 from the storage unit 62, and the detection distance x2 output from the distance detection unit 70 is the lower limit value P2. It is confirmed whether or not it exceeds (S7). When the detection distance x2 exceeds the lower limit value P2 (S7, Yes), the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L (S8). That is, when the work body M closest to the detection unit 71 is located in the third region E3, in other words, when the detection distance x2 is within a predetermined range, the automatic travel control unit 61 corresponds to the planned travel route L. Maintain the running speed without changing the running speed from the running speed.
[0041]
　When the detection distance x2 does not exceed the lower limit value P2 (S7, No), the automatic driving control unit 61 acquires the second threshold value P4 from the storage unit 62, and the detection distance x2 output from the distance detection unit 70 is It is confirmed whether or not the second threshold value P4 is exceeded (S9). When the detection distance x2 exceeds the second threshold value P4 (S9, Yes), the automatic driving control unit 61 changes the speed to be higher than the traveling speed corresponding to the planned traveling route L (S10). That is, when the working body M closest to the detection unit 71 is located in the fourth region E4, in other words, the detection distance x2 is equal to or less than a preset predetermined range and exceeds the second threshold value P4. In this case, the automatic traveling control unit 61 changes the traveling speed to be increased. The automatic traveling control unit 61 raises the shift stage of the transmission 5, increases the rotation speed of the prime mover 4, and increases the traveling speed in inverse proportion to the length of the detection distance x2.
[0042]
　When the detection distance x2 does not exceed the second threshold value P4 (S9, No), that is, when the detection distance x2 is equal to or less than the second threshold value P4, the automatic travel control unit 61 changes the travel speed to zero (S9, No). S11). In other words, when the work body M closest to the detection unit 71 is located in the fifth region E5, the automatic travel control unit 61 changes the travel speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling the braking device and the transmission device 5.
[0043]
　The above-mentioned work vehicle 1 includes a traveling vehicle 3 to which the working device 2 can be connected, a position detecting device 40 for detecting the position of the traveling vehicle 3, the position of the traveling vehicle 3 detected by the position detecting device 40, and a planned traveling route L. Based on the above, the automatic traveling control unit 61 that automatically steers the traveling vehicle 3 and controls the traveling speed of the traveling vehicle 3 corresponding to the planned traveling route L, the working device 2, and the rear of the working device 2. The automatic travel control unit 61 includes a distance detection unit 70 that detects a detection distance x2 between the worker M1 who performs the work, and the automatic travel control unit 61 changes the travel speed based on the detection distance x2.
[0044]
　According to the above configuration, the automatic traveling control unit 61 can change the traveling speed of the traveling vehicle 3 according to the position of the worker M1 who performs the work behind the working device 2. Therefore, the relative distance between the work device 2 and the worker M1 is maintained appropriately, the cooperation between the work vehicle 1 and the work of the worker M1 is easily realized, and the automatic traveling speed of the work vehicle 1 is slowed down in advance. The work can be continued without setting, starting or stopping the work vehicle 1.
[0045]
　Further, based on the traveling vehicle 3 to which the working device 2 can be connected, the position detecting device 40 for detecting the position of the traveling vehicle 3, the position of the traveling vehicle 3 detected by the position detecting device 40, and the planned traveling route L. An automatic traveling control unit 61 that automatically steers the traveling vehicle 3 and controls the traveling speed of the traveling vehicle 3 corresponding to the planned travel route L, a work device 2, and a work machine that performs work behind the work device 2. The automatic travel control unit 61 includes a distance detection unit 70 that detects a detection distance x2 between the M2 and the automatic travel control unit 61, and changes the travel speed based on the detection distance x2.
[0046]
　According to the above configuration, the automatic traveling control unit 61 can change the traveling speed of the traveling vehicle 3 according to the position of the working machine M2 that performs the work behind the working device 2. Therefore, the relative distance between the work device 2 and the work machine M2 is maintained appropriately, the cooperation between the work vehicle 1 and the work of the work machine M2 is easily realized, and the automatic traveling speed of the work vehicle 1 is slowed down in advance. The work can be continued without setting, starting or stopping the work vehicle 1.
[0047]
　Further, the automatic traveling control unit 61 changes the traveling speed to zero or increases when the detection distance x2 is equal to or less than a preset predetermined range, and when the detection distance x2 is within the predetermined range. , The traveling speed is not changed, and the traveling speed is reduced when the detection distance x2 is equal to or greater than a predetermined range.
　According to the above configuration, when the relative distance to the working body M (worker M1 or the working machine M2) is small in the automatic running, the automatic running control unit 61 increases the running speed with the working body M. If the relative distance is large, change to reduce the traveling speed. Therefore, it is possible to maintain a predetermined relative distance between the work device 2 and the work body M, and it is possible to prevent the work of the work body M from being delayed or overtaken by the work of the work device 2. can. As a result, even if the work vehicle 1 is not stopped, the work device 2 and the work body M can be maintained at a predetermined relative distance, and the work efficiency is improved by reducing the stop frequency of the work vehicle 1. be able to.
[0048]
　Further, the automatic traveling control unit 61 has a first threshold value P3 larger than a predetermined range, and changes the traveling speed to zero when the detection distance x2 is equal to or greater than the predetermined range and equal to or greater than the first threshold value P3. do.
　According to the above configuration, when the relative distance between the work device 2 and the work body M becomes relatively large, the running of the work device 2 can be stopped. Therefore, when the work body M is not moving, such as when the work is interrupted, it is possible to prevent the work vehicle 1 from performing the work in advance regardless of the work of the work body M.
[0049]
　Further, the automatic traveling control unit 61 has a second threshold value P4 smaller than a predetermined range, and changes the traveling speed to zero when the detection distance x2 is equal to or less than the predetermined range and is equal to or less than the second threshold value P4. Then, when the detection distance x2 is equal to or less than a predetermined range and exceeds the second threshold value P4, the traveling speed is changed to increase.
　According to the above configuration, when the relative distance to the working body M is small in the automatic running, the automatic running control unit 61 is predetermined between the working device 2 and the working body M in order to increase the running speed. The relative distance can be maintained, and it is possible to prevent the work of the work body M from being delayed with respect to the work of the work device 2. On the other hand, when the relative distance between the work device 2 and the work body M becomes smaller, the traveling vehicle 3 can be stopped. Therefore, it is possible to prevent the working body M from approaching the vicinity of the working vehicle 1 that is automatically traveling and hindering the automatic traveling, or to prevent the working body M and the working vehicle 1 from coming into contact with each other.
[Second Embodiment]
　FIGS. 7 and 8 show another embodiment (second embodiment) of the work vehicle 1.
[0050]
　Hereinafter, the work vehicle 1 of the second embodiment will be mainly described with a configuration different from that of the above-described embodiment (first embodiment), and the configurations common to the first embodiment will be described in detail with the same reference numerals. Omit. The work vehicle 1 of the first embodiment automatically changes the shift stage of the transmission 5 and the rotation speed of the prime mover 4 according to the detection distance x2, and increases or decreases the vehicle speed (traveling speed) of the tractor 1. The work vehicle 1 of the second embodiment automatically changes the speed change stage of the transmission 5 and the rotation speed of the prime mover 4 according to the detection distance x2, and maintains or changes the vehicle speed (traveling speed) of the tractor 1 to zero. .. Hereinafter, the automatic driving control in the second embodiment will be described in detail.
[0051]
　The automatic traveling control unit 61 maintains or changes the vehicle speed (traveling speed) of the tractor 1 to zero according to a plurality of regions in which the target region E is divided according to the distance from the working device 2. The plurality of regions include a first region (stop region) E1a, a second region (speed maintenance region) E2a, and a third region (stop region) E3a. As shown in FIG. 7, the target area E is divided into a first area E1a, a second area E2a, and a third area E3a in order from the area far from the working device 2. As shown in FIG. 7, the first region E1a, the second region E2a, and the third region E3a are classified by a preset range or threshold value.
[0052]
　In the second embodiment, the thresholds and ranges are, for example, a first threshold P3 and a second threshold P4. The first threshold value P3 and the second threshold value P4 are stored in the storage unit 62, the first threshold value P3 is a preset value, and the second threshold value P4 is a value smaller than the first threshold value P3. ..
　As shown in FIG. 7, the first region E1a is a region in which the detection distance x2 is equal to or greater than the first threshold value P3. The second region E2a is a region in which the detection distance x2 is less than the first threshold value P3 and exceeds the second threshold value P4. The second region E2a is a region sandwiched between the first threshold value P3 and the second threshold value P4. The third region E3a is a region in which the detection distance x2 is equal to or less than the second threshold value P4. The automatic travel control unit 61 acquires the first threshold value P3 and the second threshold value P4 from the storage unit 62, and sets the first threshold value P3 and the second threshold value P4 and the detection distance x2 output from the distance detection unit 70. Based on this, the running speed is maintained or changed to zero.
[0053]
　The automatic traveling control unit 61 changes the traveling speed to zero when the detection distance x2 is equal to or greater than the first threshold value P3. The automatic traveling control unit 61 changes the traveling speed to zero when the detection distance x2 is equal to or less than the second threshold value P4. Hereinafter, the control of the automatic driving control unit 61 will be described in detail.
　When the work body M closest to the detection unit 71 is located in the first region E1a (x ≧ P3), the automatic travel control unit 61 changes the travel speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling a braking device that brakes the front wheels 7F or the rear wheels 7R and a transmission device 5. As a result, when the relative distance between the work device 2 and the work body M becomes relatively large, the traveling vehicle 3 can be stopped. Therefore, when the work body M is not moving, such as when the work is interrupted, it is possible to prevent the work vehicle 1 from performing the work in advance regardless of the work of the work body M.
[0054]
　When the work body M closest to the detection unit 71 is located in the second region E2a (P3> x> P4), the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L. .. That is, when the detection distance x2 is less than the first threshold value P3 and exceeds the second threshold value P4, the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L, and travels. Maintain speed.
[0055]
　When the work body M closest to the detection unit 71 is located in the third region E3a (x ≦ P4), the automatic travel control unit 61 changes the travel speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling the braking device and the transmission device 5. As a result, when the relative distance between the work device 2 and the work body M is relatively small, the traveling vehicle 3 can be stopped. Therefore, it is possible to prevent the working body M from approaching the vicinity of the working vehicle 1 that is automatically traveling and hindering the automatic traveling, or to prevent the working body M and the working vehicle 1 from coming into contact with each other.
[0056]
　Hereinafter, a series of flows of the automatic driving control unit 61 in automatic driving will be described.
　As shown in FIG. 8, after the engine 4 of the tractor 1 is started, when the control device 60 acquires the instruction to start the automatic traveling of the tractor 1, the automatic traveling control unit 61 starts the automatic traveling of the tractor 1 (S21). The control device 60 is acquired from a mobile terminal such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a computer such as a tablet, which is communicably connected to the tractor 1. When the automatic traveling is started, the automatic traveling control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along the planned traveling route L. Further, when the automatic traveling is started, the automatic traveling control unit 61 controls the vehicle speed (traveling speed) of the tractor 1 by automatically changing the shift stage of the transmission 5, the rotation speed of the prime mover 4, and the like.
[0057]
　When the automatic travel control unit 61 starts the automatic travel of the tractor 1 (S21), the distance detection unit 70 detects the detection distance x2 (S22). The detection unit 71 of the distance detection unit 70 detects the work body M closest to the detection unit 71 among the work bodies M located in the target area E. The detection unit 71 irradiates the target area E with a laser beam, and receives the reflected light of the laser beam reflected by the target area E. The processing unit 72 of the distance detection unit 70 detects the detection distance x2 between the work device 2 and the work body M based on the time from the start of irradiation of the detection unit 71 to the light reception. Specifically, the processing unit 72 detects the relative distance x between the traveling vehicle 3 and the work body M based on the time from the start of irradiation to the light reception of the detection unit 71, and the traveling vehicle 3 and the work device 2 The detection distance x2 is detected by subtracting the relative distance x1 between the two. The processing unit 72 outputs the processed detection distance x2 to the automatic traveling control unit 61.
[0058]
　When the detection distance x2 is input from the distance detection unit 70, the automatic travel control unit 61 automatically changes the shift stage of the transmission 5 and the rotation speed of the prime mover 4 according to the detection distance x2, and the travel speed. Is maintained or changed to zero (S23 to S27). Specifically, the automatic driving control unit 61 first acquires the first threshold value P3 from the storage unit 62, and confirms whether or not the detection distance x2 output from the distance detection unit 70 is equal to or greater than the first threshold value P3. (S23). When the detection distance x2 is equal to or greater than the first threshold value P3 (S23, Yes), the automatic travel control unit 61 changes the travel speed to zero (S24). In other words, when the work body M closest to the detection unit 71 is located in the first region E1a, the automatic travel control unit 61 changes the travel speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling a braking device that brakes the front wheels 7F or the rear wheels 7R and a transmission device 5.
[0059]
　When the detection distance x2 is not equal to or greater than the first threshold value P3 (S23, No), the automatic driving control unit 61 acquires the second threshold value P4 from the storage unit 62, and the detection distance x2 output from the distance detection unit 70 is the first. 2 It is confirmed whether or not the threshold value P4 is exceeded (S25). When the detection distance x2 exceeds the second threshold value P4, the automatic travel control unit 61 does not change the travel speed from the travel speed corresponding to the planned travel route L (S26). That is, when the working body M closest to the detection unit 71 is located in the second region E2a, in other words, when the detection distance x2 is less than the first threshold value P3 and exceeds the second threshold value P4, automatic traveling control is performed. The unit 61 does not change the traveling speed from the traveling speed corresponding to the planned traveling route L, and maintains the traveling speed.
[0060]
　When the detection distance x2 does not exceed the second threshold value P4 (S25, No), that is, when the detection distance x2 is equal to or less than the second threshold value P4, the automatic travel control unit 61 changes the travel speed to zero (S). S27). In other words, when the working body M closest to the detection unit 71 is located in the third region E3a, the automatic traveling control unit 61 changes the traveling speed to zero. The automatic traveling control unit 61 stops the traveling vehicle 3 by controlling the braking device and the transmission device 5.
[0061]
　The automatic traveling control unit 61 described above changes the traveling speed to zero when the detection distance x2 is equal to or greater than the first threshold value P3.
　According to the above configuration, when the relative distance between the work body M (worker M1 or work machine M2) and the work device 2 is large, the traveling vehicle 3 can be stopped. Therefore, when the work body M is not moving, such as when the work is interrupted, it is possible to prevent the work vehicle 1 from performing the work in advance regardless of the work of the work body M.
[0062]
　Further, the automatic traveling control unit 61 changes the traveling speed to zero when the detection distance x2 is equal to or less than the second threshold value P4, which is smaller than the first threshold value P3.
　According to the above configuration, when the relative distance between the working body M and the working device 2 is small, the traveling vehicle 3 can be stopped. Therefore, it is possible to prevent the working body M from approaching the vicinity of the working vehicle 1 that is automatically traveling and hindering the automatic traveling, or to prevent the working body M from coming into contact with the working vehicle 1.
[0063]
　Although the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope of the claims.
Code description
[0064]
　　1 Work vehicle (tractor)
　　2 Work device
　　3 Travel vehicle
　40 Position detection device (positioning device)
　61 Automatic travel control unit
　70 Distance detection unit
　L1 Scheduled travel route
　M1 Worker
　M2 Work machine
　P3 First threshold
　P4 Second threshold
　x Detection distance
The scope of the claims
[Claim 1]
　Automatic steering of the traveling vehicle is performed based on the 　traveling vehicle to which the work device can be connected,
　the position detecting device for detecting the position of the traveling vehicle, and the position of the traveling vehicle detected by the position detecting device and the
planned traveling route.
　Detects the detection distance between the automatic travel control unit that controls the travel speed of the traveling vehicle corresponding to the planned travel route, the work device, and the worker who works behind the work device. a distance detection unit which,
　provided with,
　the automatic travel control unit, the work vehicle to change based on the traveling speed of the detected distance.
[Claim 2]
　Automatic steering of the traveling vehicle is performed based on the 　traveling vehicle to which the work device can be connected,
　the position detecting device for detecting the position of the traveling vehicle, and the position of the traveling vehicle detected by the position detecting device and the
planned traveling route.
　Detects the detection distance between the automatic travel control unit that controls the travel speed of the traveling vehicle corresponding to the planned travel route, the work device, and the work machine that works behind the work device. a distance detection unit which,
　provided with,
　the automatic travel control unit, the work vehicle to change based on the traveling speed of the detected distance.
[Claim 3]
　The automatic traveling control unit
　changes the traveling speed to zero or increases when the
　detection distance is equal to or less than a preset predetermined range, and when the detection distance is within the predetermined range.
　The work vehicle according to claim 1 or 2 , wherein the traveling speed is not changed and the traveling speed is changed to be reduced when the detection distance is equal to or greater than the predetermined range.
[Claim 4]
　The automatic traveling control unit has a first threshold value larger than the
　predetermined range, and changes the traveling speed to zero when the detection distance is equal to or greater than the predetermined range and is equal to or greater than the first threshold value. The work vehicle according to claim 3.
[Claim 5]
　The automatic traveling control unit has a second threshold value smaller than the
　predetermined range, and changes the traveling speed to zero when the detection distance is equal to or less than the predetermined range and is equal to or less than the second threshold value.
　The work vehicle according to claim 3 or 4 , wherein when the detection distance is equal to or less than the predetermined range and exceeds the second threshold value, the traveling speed is changed to increase the speed.
[Claim 6]

　The work vehicle according to claim 1 or 2, 　wherein the automatic travel control unit changes the travel speed to zero when the detection distance is equal to or greater than a first threshold value.
[Claim 7]

　The work vehicle according to claim 6, 　wherein the automatic traveling control unit changes the traveling speed to zero when the detected distance is equal to or less than a second threshold value smaller than the first threshold value.